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<div class="title">crh_estimator.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * vfh_estimator.h</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Mar 22, 2012</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *      Author: aitor</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef REC_FRAMEWORK_CRH_ESTIMATOR_H_</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define REC_FRAMEWORK_CRH_ESTIMATOR_H_</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/3d_rec_framework/feature_wrapper/global/global_estimator.h&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/3d_rec_framework/feature_wrapper/normal_estimator.h&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;pcl/features/crh.h&gt;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;{</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="keyword">namespace </span>rec_3d_framework</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  {</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> FeatureT&gt;</div>
<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_c_r_h_estimation.html">   20</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1rec__3d__framework_1_1_c_r_h_estimation.html">CRHEstimation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_estimator.html">GlobalEstimator</a>&lt;PointInT, FeatureT&gt;</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    {</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr PointInTPtr;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_estimator.html">GlobalEstimator&lt;PointInT, FeatureT&gt;::normal_estimator_</a>;</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_estimator.html">GlobalEstimator&lt;PointInT, FeatureT&gt;::normals_</a>;</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;      <span class="keyword">typename</span> boost::shared_ptr&lt;GlobalEstimator&lt;PointInT, FeatureT&gt; &gt; feature_estimator_;</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::Histogram&lt;90&gt;</a> &gt; <a class="code" href="classpcl_1_1_point_cloud.html">CRHPointCloud</a>;</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;      std::vector&lt; CRHPointCloud::Ptr &gt; crh_histograms_;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;      <a class="code" href="classpcl_1_1rec__3d__framework_1_1_c_r_h_estimation.html">CRHEstimation</a> ()</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;      {</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;      }</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      setFeatureEstimator(<span class="keyword">typename</span> boost::shared_ptr&lt;<a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_estimator.html">GlobalEstimator&lt;PointInT, FeatureT&gt;</a> &gt; &amp; feature_estimator) {</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        feature_estimator_ = feature_estimator;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      }</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;      estimate (PointInTPtr &amp; in, PointInTPtr &amp; processed,</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;                std::vector&lt;<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;FeatureT&gt;</a>, Eigen::aligned_allocator&lt;<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;FeatureT&gt;</a> &gt; &gt; &amp; signatures,</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;                std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; &amp; centroids)</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;      {</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        <span class="keywordflow">if</span> (!feature_estimator_)</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        {</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;          PCL_ERROR(<span class="stringliteral">&quot;CRHEstimation needs a global estimator... please provide one\n&quot;</span>);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;          <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        }</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        feature_estimator_-&gt;estimate(in, processed, signatures, centroids);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        <span class="keywordflow">if</span>(!feature_estimator_-&gt;computedNormals()) {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;          normals_.reset(<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::Normal&gt;</a>);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;          normal_estimator_-&gt;estimate (in, processed, normals_);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;          feature_estimator_-&gt;getNormals(normals_);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        }</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        crh_histograms_.resize(signatures.size());</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_c_r_h_estimation.html">pcl::CRHEstimation&lt;PointInT, pcl::Normal, pcl::Histogram&lt;90&gt;</a> &gt; <a class="code" href="classpcl_1_1rec__3d__framework_1_1_c_r_h_estimation.html">CRHEstimation</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_c_r_h_estimation.html">CRHEstimation</a> crh;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        crh.setInputCloud(processed);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        crh.setInputNormals(normals_);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; signatures.size (); idx++)</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;          Eigen::Vector4f centroid4f(centroids[idx][0],centroids[idx][1],centroids[idx][2],0);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;          crh.setCentroid(centroid4f);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;          crh_histograms_[idx].reset(<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">CRHPointCloud</a>());</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;          crh.compute (*crh_histograms_[idx]);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        }</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      }</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keywordtype">void</span> getCRHHistograms(std::vector&lt; CRHPointCloud::Ptr &gt; &amp; crh_histograms) {</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        crh_histograms = crh_histograms_;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      }</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      computedNormals ()</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      {</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      }</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    };</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  }</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;}</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* REC_FRAMEWORK_CVFH_ESTIMATOR_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_estimation_html"><div class="ttname"><a href="classpcl_1_1_c_r_h_estimation.html">pcl::CRHEstimation</a></div><div class="ttdoc">CRHEstimation estimates the Camera Roll Histogram (CRH) descriptor for a given point cloud dataset co...</div><div class="ttdef"><b>Definition:</b> crh.h:62</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_c_r_h_estimation_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_c_r_h_estimation.html">pcl::rec_3d_framework::CRHEstimation</a></div><div class="ttdef"><b>Definition:</b> crh_estimator.h:21</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_estimator_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_estimator.html">pcl::rec_3d_framework::GlobalEstimator</a></div><div class="ttdef"><b>Definition:</b> global_estimator.h:18</div></div>
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